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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_
#define TRAJECTORY_ROLLOUT_VOXEL_WORLD_MODEL_H_

#include <vector>
#include <list>
#include <cfloat>
#include <geometry_msgs/Point.h>
#include <costmap_2d/observation.h>
#include <base_local_planner/world_model.h>

//voxel grid stuff
#include <voxel_grid/voxel_grid.h>

namespace base_local_planner
{
/**
 * @class VoxelGridModel
 * @brief A class that implements the WorldModel interface to provide grid
 * based collision checks for the trajectory controller using a 3D voxel grid.
 */
class VoxelGridModel : public WorldModel
{
public:
    /**
     * @brief  Constructor for the VoxelGridModel
     * @param size_x The x size of the map
     * @param size_y The y size of the map
     * @param size_z The z size of the map... up to 32 cells
     * @param xy_resolution The horizontal resolution of the map in meters/cell
     * @param z_resolution The vertical resolution of the map in meters/cell
     * @param origin_x The x value of the origin of the map
     * @param origin_y The y value of the origin of the map
     * @param origin_z The z value of the origin of the map
     * @param  max_z The maximum height for an obstacle to be added to the grid
     * @param  obstacle_range The maximum distance for obstacles to be added to the grid
     */
    VoxelGridModel(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution,
                   double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range);

    /**
     * @brief  Destructor for the world model
     */
    virtual ~VoxelGridModel() {}

    /**
     * @brief  Checks if any obstacles in the voxel grid lie inside a convex footprint that is rasterized into the grid
     * @param  position The position of the robot in world coordinates
     * @param  footprint The specification of the footprint of the robot in world coordinates
     * @param  inscribed_radius The radius of the inscribed circle of the robot
     * @param  circumscribed_radius The radius of the circumscribed circle of the robot
     * @return Positive if all the points lie outside the footprint, negative otherwise
     */
    virtual double
    footprintCost(const geometry_msgs::Point &position, const std::vector<geometry_msgs::Point> &footprint,
                  double inscribed_radius, double circumscribed_radius);

    using WorldModel::footprintCost;

    /**
     * @brief  The costmap already keeps track of world observations, so for this world model this method does nothing
     * @param footprint The footprint of the robot in its current location
     * @param observations The observations from various sensors
     * @param laser_scan The scans used to clear freespace
     */
    void updateWorld(const std::vector<geometry_msgs::Point> &footprint,
                     const std::vector<costmap_2d::Observation> &observations,
                     const std::vector<PlanarLaserScan> &laser_scans);

    /**
     * @brief Function copying the Voxel points into a point cloud
     * @param cloud the point cloud to copy data to. It has the usual x,y,z channels
     */
    void getPoints(sensor_msgs::PointCloud2 &cloud);

private:
    /**
     * @brief  Rasterizes a line in the costmap grid and checks for collisions
     * @param x0 The x position of the first cell in grid coordinates
     * @param y0 The y position of the first cell in grid coordinates
     * @param x1 The x position of the second cell in grid coordinates
     * @param y1 The y position of the second cell in grid coordinates
     * @return A positive cost for a legal line... negative otherwise
     */
    double lineCost(int x0, int x1, int y0, int y1);

    /**
     * @brief  Checks the cost of a point in the costmap
     * @param x The x position of the point in cell coordinates
     * @param y The y position of the point in cell coordinates
     * @return A positive cost for a legal point... negative otherwise
     */
    double pointCost(int x, int y);

    void removePointsInScanBoundry(const PlanarLaserScan &laser_scan, double raytrace_range);

    inline bool worldToMap3D(double wx, double wy, double wz, unsigned int &mx, unsigned int &my, unsigned int &mz)
    {
        if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) return false;
        mx = (int) ((wx - origin_x_) / xy_resolution_);
        my = (int) ((wy - origin_y_) / xy_resolution_);
        mz = (int) ((wz - origin_z_) / z_resolution_);
        return true;
    }

    inline bool worldToMap2D(double wx, double wy, unsigned int &mx, unsigned int &my)
    {
        if (wx < origin_x_ || wy < origin_y_) return false;
        mx = (int) ((wx - origin_x_) / xy_resolution_);
        my = (int) ((wy - origin_y_) / xy_resolution_);
        return true;
    }

    inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double &wx, double &wy, double &wz)
    {
        //returns the center point of the cell
        wx = origin_x_ + (mx + 0.5) * xy_resolution_;
        wy = origin_y_ + (my + 0.5) * xy_resolution_;
        wz = origin_z_ + (mz + 0.5) * z_resolution_;
    }

    inline void mapToWorld2D(unsigned int mx, unsigned int my, double &wx, double &wy)
    {
        //returns the center point of the cell
        wx = origin_x_ + (mx + 0.5) * xy_resolution_;
        wy = origin_y_ + (my + 0.5) * xy_resolution_;
    }

    inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
    {
        return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
    }

    inline void insert(const geometry_msgs::Point32 &pt)
    {
        unsigned int cell_x, cell_y, cell_z;
        if (!worldToMap3D(pt.x, pt.y, pt.z, cell_x, cell_y, cell_z)) return;
        obstacle_grid_.markVoxel(cell_x, cell_y, cell_z);
    }

    voxel_grid::VoxelGrid obstacle_grid_;
    double xy_resolution_;
    double z_resolution_;
    double origin_x_;
    double origin_y_;
    double origin_z_;
    double max_z_;  ///< @brief The height cutoff for adding points as obstacles
    double sq_obstacle_range_;  ///< @brief The square distance at which we no longer add obstacles to the grid

};
};
#endif
